/*******************************************************************************
 * Copyright (c) 2013, Daniel Murphy
 * All rights reserved.
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 * are permitted provided that the following conditions are met:
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 * 
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 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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package org.jbox2d.dynamics.contacts;

import org.jbox2d.common.Mat22;
import org.jbox2d.common.Settings;
import org.jbox2d.common.Vec2;

public class ContactVelocityConstraint {
	public VelocityConstraintPoint[] points = new VelocityConstraintPoint[Settings.maxManifoldPoints];
	public final Vec2 normal = new Vec2();
	public final Mat22 normalMass = new Mat22();
	public final Mat22 K = new Mat22();
	public int indexA;
	public int indexB;
	public float invMassA, invMassB;
	public float invIA, invIB;
	public float friction;
	public float restitution;
	public float tangentSpeed;
	public int pointCount;
	public int contactIndex;

	public ContactVelocityConstraint () {
		for (int i = 0; i < points.length; i++) {
			points[i] = new VelocityConstraintPoint();
		}
	}

	public static class VelocityConstraintPoint {
		public final Vec2 rA = new Vec2();
		public final Vec2 rB = new Vec2();
		public float normalImpulse;
		public float tangentImpulse;
		public float normalMass;
		public float tangentMass;
		public float velocityBias;
	}
}
